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Firmware Version 1.0.4

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This commit is contained in:
0x23 2026-03-13 09:10:45 +01:00
parent 18313cc6ae
commit e13cbda4cc
26 changed files with 794 additions and 256 deletions
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72
firmware/MotionControllerRP/src/command_parser/command_parser.cpp
View file

@ -24,6 +24,38 @@ const std::string& GCodeCommand::get_command() const {
return command;
}
GCodeCommand::EParseStatus GCodeCommand::from_command_str(const char* gcode_command) {
// Copy line into a mutable buffer
char line_copy[256];
strncpy(line_copy, gcode_command, sizeof(line_copy));
line_copy[sizeof(line_copy) - 1] = '\0';
// Tokenize the first word (e.g., G0, M3, T1)
char* saveptr = nullptr;
char* token = strtok_r(line_copy, " ", &saveptr);
if (!token || token[0] < 'A' || token[0] > 'Z') {
return EParseStatus::MALFORMED_COMMAND;
}
reset();
set_command(token);
// Parse remaining words (e.g., X1.0, Y2.5, F200)
while ((token = strtok_r(nullptr, " ", &saveptr))) {
if (token[0] >= 'A' && token[0] <= 'Z') {
if(token[1] == '\0')
set_value(token[0], 0.0f);
else
set_value(token[0], strtof(token + 1, nullptr));
} else {
return EParseStatus::INVALID_PARAMETER;
}
}
return EParseStatus::OK;
}
void GCodeCommand::reset() {
// Initialize all word values to NaN to represent "not set"
for (float& value : word_values) {
@ -116,6 +148,10 @@ void CommandParser::update() {
}
}
bool CommandParser::is_command_ready() {
return command_ready;
}
// Feed input chars one by one
void CommandParser::add_input_character(char c) {
if (c == '\n' || c == '\r') {
@ -132,41 +168,19 @@ void CommandParser::add_input_character(char c) {
bool CommandParser::parse_line(const char* line) {
command_ready = false;
// Copy line into a mutable buffer
char line_copy[256];
strncpy(line_copy, line, sizeof(line_copy));
line_copy[sizeof(line_copy) - 1] = '\0';
// reset and parse gcode command from string
GCodeCommand::EParseStatus ret = command.from_command_str(line);
// Tokenize the first word (e.g., G0, M3, T1)
char* saveptr = nullptr;
char* token = strtok_r(line_copy, " ", &saveptr);
if (!token || token[0] < 'A' || token[0] > 'Z') {
if(ret == GCodeCommand::EParseStatus::MALFORMED_COMMAND) {
command_processor->send_reply("error: malformed command\n");
return false;
}
command.reset();
command.set_command(token);
// Parse remaining words (e.g., X1.0, Y2.5, F200)
while ((token = strtok_r(nullptr, " ", &saveptr))) {
if (token[0] >= 'A' && token[0] <= 'Z') {
if(token[1] == '\0')
command.set_value(token[0], 0.0f);
else
command.set_value(token[0], strtof(token + 1, nullptr));
} else {
command_processor->send_reply("error: invalid parameter\n");
return false;
}
if(ret == GCodeCommand::EParseStatus::INVALID_PARAMETER) {
command_processor->send_reply("error: invalid parameter\n");
return false;
}
command_ready = true;
return true;
}
// returns false if the command could not yet be processed.
// The function will be called witht the same command later to try again.
bool CommandParser::handle_gcode_command(const GCodeCommand& cmd) {
return false;
}
}

14
firmware/MotionControllerRP/src/command_parser/command_parser.h
View file

@ -16,8 +16,16 @@ static constexpr int LETTER_COUNT = 26;
class GCodeCommand {
public:
enum class EParseStatus {
OK=1,
MALFORMED_COMMAND=-1,
INVALID_PARAMETER=-2
};
GCodeCommand();
EParseStatus from_command_str(const char* cmd);
void reset();
void set_command(const char* cmd);
const std::string& get_command() const;
@ -52,11 +60,9 @@ class CommandParser {
void set_command_processor(ICommandProcessor* cp);
void add_input_character(char c); // Feed input chars one by one
void update(); // Feed input chars one by one
protected:
void update();
bool is_command_ready(); // true if command was parsed and is waiting to be executed
bool parse_line(const char* line);
bool handle_gcode_command(const GCodeCommand& cmd);
private:
char buffer[255];